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  <h1>Source code for rl_coach.environments.control_suite_environment</h1><div class="highlight"><pre>
<span></span><span class="c1">#</span>
<span class="c1"># Copyright (c) 2017 Intel Corporation</span>
<span class="c1">#</span>
<span class="c1"># Licensed under the Apache License, Version 2.0 (the &quot;License&quot;);</span>
<span class="c1"># you may not use this file except in compliance with the License.</span>
<span class="c1"># You may obtain a copy of the License at</span>
<span class="c1">#</span>
<span class="c1">#      http://www.apache.org/licenses/LICENSE-2.0</span>
<span class="c1">#</span>
<span class="c1"># Unless required by applicable law or agreed to in writing, software</span>
<span class="c1"># distributed under the License is distributed on an &quot;AS IS&quot; BASIS,</span>
<span class="c1"># WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span>
<span class="c1"># See the License for the specific language governing permissions and</span>
<span class="c1"># limitations under the License.</span>
<span class="c1">#</span>



<span class="kn">import</span> <span class="nn">random</span>
<span class="kn">from</span> <span class="nn">enum</span> <span class="k">import</span> <span class="n">Enum</span>
<span class="kn">from</span> <span class="nn">typing</span> <span class="k">import</span> <span class="n">Union</span>

<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>

<span class="k">try</span><span class="p">:</span>
    <span class="kn">from</span> <span class="nn">dm_control</span> <span class="k">import</span> <span class="n">suite</span>
    <span class="kn">from</span> <span class="nn">dm_control.suite.wrappers</span> <span class="k">import</span> <span class="n">pixels</span>
<span class="k">except</span> <span class="ne">ImportError</span><span class="p">:</span>
    <span class="kn">from</span> <span class="nn">rl_coach.logger</span> <span class="k">import</span> <span class="n">failed_imports</span>
    <span class="n">failed_imports</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="s2">&quot;DeepMind Control Suite&quot;</span><span class="p">)</span>

<span class="kn">from</span> <span class="nn">rl_coach.base_parameters</span> <span class="k">import</span> <span class="n">VisualizationParameters</span>
<span class="kn">from</span> <span class="nn">rl_coach.environments.environment</span> <span class="k">import</span> <span class="n">Environment</span><span class="p">,</span> <span class="n">EnvironmentParameters</span><span class="p">,</span> <span class="n">LevelSelection</span>
<span class="kn">from</span> <span class="nn">rl_coach.filters.filter</span> <span class="k">import</span> <span class="n">NoInputFilter</span><span class="p">,</span> <span class="n">NoOutputFilter</span>
<span class="kn">from</span> <span class="nn">rl_coach.spaces</span> <span class="k">import</span> <span class="n">BoxActionSpace</span><span class="p">,</span> <span class="n">ImageObservationSpace</span><span class="p">,</span> <span class="n">VectorObservationSpace</span><span class="p">,</span> <span class="n">StateSpace</span>


<span class="k">class</span> <span class="nc">ObservationType</span><span class="p">(</span><span class="n">Enum</span><span class="p">):</span>
    <span class="n">Measurements</span> <span class="o">=</span> <span class="mi">1</span>
    <span class="n">Image</span> <span class="o">=</span> <span class="mi">2</span>
    <span class="n">Image_and_Measurements</span> <span class="o">=</span> <span class="mi">3</span>


<span class="c1"># Parameters</span>
<span class="k">class</span> <span class="nc">ControlSuiteEnvironmentParameters</span><span class="p">(</span><span class="n">EnvironmentParameters</span><span class="p">):</span>
    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">level</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">level</span><span class="o">=</span><span class="n">level</span><span class="p">)</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">observation_type</span> <span class="o">=</span> <span class="n">ObservationType</span><span class="o">.</span><span class="n">Measurements</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">default_input_filter</span> <span class="o">=</span> <span class="n">ControlSuiteInputFilter</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">default_output_filter</span> <span class="o">=</span> <span class="n">ControlSuiteOutputFilter</span>

    <span class="nd">@property</span>
    <span class="k">def</span> <span class="nf">path</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="k">return</span> <span class="s1">&#39;rl_coach.environments.control_suite_environment:ControlSuiteEnvironment&#39;</span>


<span class="sd">&quot;&quot;&quot;</span>
<span class="sd">ControlSuite Environment Components</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="n">ControlSuiteInputFilter</span> <span class="o">=</span> <span class="n">NoInputFilter</span><span class="p">()</span>
<span class="n">ControlSuiteOutputFilter</span> <span class="o">=</span> <span class="n">NoOutputFilter</span><span class="p">()</span>

<span class="n">control_suite_envs</span> <span class="o">=</span> <span class="p">{</span><span class="s1">&#39;:&#39;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">env</span><span class="p">):</span> <span class="s1">&#39;:&#39;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">env</span><span class="p">)</span> <span class="k">for</span> <span class="n">env</span> <span class="ow">in</span> <span class="n">suite</span><span class="o">.</span><span class="n">BENCHMARKING</span><span class="p">}</span>


<span class="c1"># Environment</span>
<div class="viewcode-block" id="ControlSuiteEnvironment"><a class="viewcode-back" href="../../../components/environments/index.html#rl_coach.environments.control_suite_environment.ControlSuiteEnvironment">[docs]</a><span class="k">class</span> <span class="nc">ControlSuiteEnvironment</span><span class="p">(</span><span class="n">Environment</span><span class="p">):</span>
    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">level</span><span class="p">:</span> <span class="n">LevelSelection</span><span class="p">,</span> <span class="n">frame_skip</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">visualization_parameters</span><span class="p">:</span> <span class="n">VisualizationParameters</span><span class="p">,</span>
                 <span class="n">target_success_rate</span><span class="p">:</span> <span class="nb">float</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="kc">None</span><span class="p">,</span> <span class="nb">int</span><span class="p">]</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">human_control</span><span class="p">:</span> <span class="nb">bool</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
                 <span class="n">observation_type</span><span class="p">:</span> <span class="n">ObservationType</span><span class="o">=</span><span class="n">ObservationType</span><span class="o">.</span><span class="n">Measurements</span><span class="p">,</span>
                 <span class="n">custom_reward_threshold</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        :param level: (str)</span>
<span class="sd">            A string representing the control suite level to run. This can also be a LevelSelection object.</span>
<span class="sd">            For example, cartpole:swingup.</span>

<span class="sd">        :param frame_skip: (int)</span>
<span class="sd">            The number of frames to skip between any two actions given by the agent. The action will be repeated</span>
<span class="sd">            for all the skipped frames.</span>

<span class="sd">        :param visualization_parameters: (VisualizationParameters)</span>
<span class="sd">            The parameters used for visualizing the environment, such as the render flag, storing videos etc.</span>

<span class="sd">        :param target_success_rate: (float)</span>
<span class="sd">            Stop experiment if given target success rate was achieved.</span>

<span class="sd">        :param seed: (int)</span>
<span class="sd">            A seed to use for the random number generator when running the environment.</span>

<span class="sd">        :param human_control: (bool)</span>
<span class="sd">            A flag that allows controlling the environment using the keyboard keys.</span>

<span class="sd">        :param observation_type: (ObservationType)</span>
<span class="sd">            An enum which defines which observation to use. The current options are to use:</span>
<span class="sd">            * Measurements only - a vector of joint torques and similar measurements</span>
<span class="sd">            * Image only - an image of the environment as seen by a camera attached to the simulator</span>
<span class="sd">            * Measurements &amp; Image - both type of observations will be returned in the state using the keys</span>
<span class="sd">            &#39;measurements&#39; and &#39;pixels&#39; respectively.</span>

<span class="sd">        :param custom_reward_threshold: (float)</span>
<span class="sd">            Allows defining a custom reward that will be used to decide when the agent succeeded in passing the environment.</span>

<span class="sd">        &quot;&quot;&quot;</span>
        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">level</span><span class="p">,</span> <span class="n">seed</span><span class="p">,</span> <span class="n">frame_skip</span><span class="p">,</span> <span class="n">human_control</span><span class="p">,</span> <span class="n">custom_reward_threshold</span><span class="p">,</span> <span class="n">visualization_parameters</span><span class="p">,</span> <span class="n">target_success_rate</span><span class="p">)</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">observation_type</span> <span class="o">=</span> <span class="n">observation_type</span>

        <span class="c1"># load and initialize environment</span>
        <span class="n">domain_name</span><span class="p">,</span> <span class="n">task_name</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_id</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;:&quot;</span><span class="p">)</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">suite</span><span class="o">.</span><span class="n">load</span><span class="p">(</span><span class="n">domain_name</span><span class="o">=</span><span class="n">domain_name</span><span class="p">,</span> <span class="n">task_name</span><span class="o">=</span><span class="n">task_name</span><span class="p">,</span> <span class="n">task_kwargs</span><span class="o">=</span><span class="p">{</span><span class="s1">&#39;random&#39;</span><span class="p">:</span> <span class="n">seed</span><span class="p">})</span>

        <span class="k">if</span> <span class="n">observation_type</span> <span class="o">!=</span> <span class="n">ObservationType</span><span class="o">.</span><span class="n">Measurements</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">pixels</span><span class="o">.</span><span class="n">Wrapper</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">,</span> <span class="n">pixels_only</span><span class="o">=</span><span class="n">observation_type</span> <span class="o">==</span> <span class="n">ObservationType</span><span class="o">.</span><span class="n">Image</span><span class="p">)</span>

        <span class="c1"># seed</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
            <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">)</span>
            <span class="n">random</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">)</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="n">StateSpace</span><span class="p">({})</span>

        <span class="c1"># image observations</span>
        <span class="k">if</span> <span class="n">observation_type</span> <span class="o">!=</span> <span class="n">ObservationType</span><span class="o">.</span><span class="n">Measurements</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span><span class="p">[</span><span class="s1">&#39;pixels&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">ImageObservationSpace</span><span class="p">(</span><span class="n">shape</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">observation_spec</span><span class="p">()[</span><span class="s1">&#39;pixels&#39;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span>
                                                               <span class="n">high</span><span class="o">=</span><span class="mi">255</span><span class="p">)</span>

        <span class="c1"># measurements observations</span>
        <span class="k">if</span> <span class="n">observation_type</span> <span class="o">!=</span> <span class="n">ObservationType</span><span class="o">.</span><span class="n">Image</span><span class="p">:</span>
            <span class="n">measurements_space_size</span> <span class="o">=</span> <span class="mi">0</span>
            <span class="n">measurements_names</span> <span class="o">=</span> <span class="p">[]</span>
            <span class="k">for</span> <span class="n">observation_space_name</span><span class="p">,</span> <span class="n">observation_space</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">observation_spec</span><span class="p">()</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
                <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">observation_space</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
                    <span class="n">measurements_space_size</span> <span class="o">+=</span> <span class="mi">1</span>
                    <span class="n">measurements_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">observation_space_name</span><span class="p">)</span>
                <span class="k">elif</span> <span class="nb">len</span><span class="p">(</span><span class="n">observation_space</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
                    <span class="n">measurements_space_size</span> <span class="o">+=</span> <span class="n">observation_space</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
                    <span class="n">measurements_names</span><span class="o">.</span><span class="n">extend</span><span class="p">([</span><span class="s2">&quot;</span><span class="si">{}</span><span class="s2">_</span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">observation_space_name</span><span class="p">,</span> <span class="n">i</span><span class="p">)</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span>
                                               <span class="nb">range</span><span class="p">(</span><span class="n">observation_space</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">])])</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span><span class="p">[</span><span class="s1">&#39;measurements&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">VectorObservationSpace</span><span class="p">(</span><span class="n">shape</span><span class="o">=</span><span class="n">measurements_space_size</span><span class="p">,</span>
                                                                      <span class="n">measurements_names</span><span class="o">=</span><span class="n">measurements_names</span><span class="p">)</span>

        <span class="c1"># actions</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="n">BoxActionSpace</span><span class="p">(</span>
            <span class="n">shape</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">action_spec</span><span class="p">()</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
            <span class="n">low</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">action_spec</span><span class="p">()</span><span class="o">.</span><span class="n">minimum</span><span class="p">,</span>
            <span class="n">high</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">action_spec</span><span class="p">()</span><span class="o">.</span><span class="n">maximum</span>
        <span class="p">)</span>

        <span class="c1"># initialize the state by getting a new state from the environment</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">reset_internal_state</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>

        <span class="c1"># render</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_rendered</span><span class="p">:</span>
            <span class="n">image</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">get_rendered_image</span><span class="p">()</span>
            <span class="n">scale</span> <span class="o">=</span> <span class="mi">1</span>
            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">human_control</span><span class="p">:</span>
                <span class="n">scale</span> <span class="o">=</span> <span class="mi">2</span>
            <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">native_rendering</span><span class="p">:</span>
                <span class="bp">self</span><span class="o">.</span><span class="n">renderer</span><span class="o">.</span><span class="n">create_screen</span><span class="p">(</span><span class="n">image</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="o">*</span><span class="n">scale</span><span class="p">,</span> <span class="n">image</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">*</span><span class="n">scale</span><span class="p">)</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">target_success_rate</span> <span class="o">=</span> <span class="n">target_success_rate</span>

    <span class="k">def</span> <span class="nf">_update_state</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">state</span> <span class="o">=</span> <span class="p">{}</span>

        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_type</span> <span class="o">!=</span> <span class="n">ObservationType</span><span class="o">.</span><span class="n">Measurements</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">pixels</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">last_result</span><span class="o">.</span><span class="n">observation</span><span class="p">[</span><span class="s1">&#39;pixels&#39;</span><span class="p">]</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s1">&#39;pixels&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">pixels</span>

        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_type</span> <span class="o">!=</span> <span class="n">ObservationType</span><span class="o">.</span><span class="n">Image</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">measurements</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([])</span>
            <span class="k">for</span> <span class="n">sub_observation</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">last_result</span><span class="o">.</span><span class="n">observation</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">sub_observation</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">)</span> <span class="ow">and</span> <span class="nb">len</span><span class="p">(</span><span class="n">sub_observation</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
                    <span class="bp">self</span><span class="o">.</span><span class="n">measurements</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">concatenate</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">measurements</span><span class="p">,</span> <span class="n">sub_observation</span><span class="p">))</span>
                <span class="k">else</span><span class="p">:</span>
                    <span class="bp">self</span><span class="o">.</span><span class="n">measurements</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">concatenate</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">measurements</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">sub_observation</span><span class="p">])))</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">state</span><span class="p">[</span><span class="s1">&#39;measurements&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">measurements</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">reward</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">last_result</span><span class="o">.</span><span class="n">reward</span> <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">last_result</span><span class="o">.</span><span class="n">reward</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="k">else</span> <span class="mi">0</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">done</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">last_result</span><span class="o">.</span><span class="n">last</span><span class="p">()</span>

    <span class="k">def</span> <span class="nf">_take_action</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">):</span>
        <span class="k">if</span> <span class="nb">type</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">action_space</span><span class="p">)</span> <span class="o">==</span> <span class="n">BoxActionSpace</span><span class="p">:</span>
            <span class="n">action</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">clip_action_to_space</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>

        <span class="bp">self</span><span class="o">.</span><span class="n">last_result</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>

    <span class="k">def</span> <span class="nf">_restart_environment_episode</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">force_environment_reset</span><span class="o">=</span><span class="kc">False</span><span class="p">):</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">last_result</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>

    <span class="k">def</span> <span class="nf">_render</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="k">pass</span>

    <span class="k">def</span> <span class="nf">get_rendered_image</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">physics</span><span class="o">.</span><span class="n">render</span><span class="p">(</span><span class="n">camera_id</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>

    <span class="k">def</span> <span class="nf">get_target_success_rate</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">target_success_rate</span></div>
</pre></div>

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